Initializes multi marker by estimating their relative positions from one or more images.
More...
|
| int | getMeasurementCount () |
| |
| const std::vector< MarkerMeasurement, Eigen::aligned_allocator< MarkerMeasurement > > & | getMeasurementMarkers (int measurement) |
| |
| double | getMeasurementPose (int measurement, Camera *cam, Pose &pose) |
| |
| int | Initialize (Camera *cam) |
| |
| template<class M > |
| void | MeasurementsAdd (const std::vector< M, Eigen::aligned_allocator< M > > *markers) |
| |
| void | MeasurementsReset () |
| |
| | MultiMarkerInitializer (std::vector< int > &indices, int filter_buffer_min=4, int filter_buffer_max=15) |
| |
| | ~MultiMarkerInitializer () |
| |
| double | _GetPose (MarkerIterator &begin, MarkerIterator &end, Camera *cam, Pose &pose, IplImage *image) |
| |
| int | _SetTrackMarkers (MarkerDetectorImpl &marker_detector, Camera *cam, Pose &pose, IplImage *image) |
| |
| int | get_id_index (int id, bool add_if_missing=false) |
| |
| std::vector< int > | getIndices () |
| |
| int | getMasterId () |
| |
| template<class M > |
| double | GetPose (const std::vector< M, Eigen::aligned_allocator< M > > *markers, Camera *cam, Pose &pose, IplImage *image=0) |
| | Calculates the pose of the camera from multi marker. Method uses the true 3D coordinates of markers to get the initial pose and then optimizes it by minimizing the reprojection error. More...
|
| |
| bool | IsValidMarker (int marker_id) |
| | Returns true if the marker is in the point cloud. More...
|
| |
| bool | Load (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT) |
| | Loads multi marker configuration from a text file. More...
|
| |
| | MultiMarker (std::vector< int > &indices) |
| | Constructor. More...
|
| |
| | MultiMarker () |
| | Default constructor. More...
|
| |
| int | pointcloud_index (int marker_id, int marker_corner, bool add_if_missing=false) |
| |
| void | PointCloudAdd (int marker_id, double edge_length, Pose &pose) |
| | Adds marker corners to 3D point cloud of multi marker. More...
|
| |
| void | PointCloudCopy (const MultiMarker *m) |
| | Copies the 3D point cloud from other multi marker object. More...
|
| |
| void | PointCloudCorners3d (double edge_length, Pose &pose, CvPoint3D64f corners[4]) |
| | Calculates 3D coordinates of marker corners relative to given pose (camera). More...
|
| |
| void | PointCloudGet (int marker_id, int point, double &x, double &y, double &z) |
| | Returns 3D co-ordinates of one corner point of a marker. More...
|
| |
| bool | PointCloudIsEmpty () |
| | Returns true if the are not points in the 3D opint cloud. More...
|
| |
| void | PointCloudReset () |
| | Reserts the 3D point cloud of the markers. More...
|
| |
| virtual void | Reset () |
| | Resets the multi marker. More...
|
| |
| bool | Save (const char *fname, FILE_FORMAT format=FILE_FORMAT_DEFAULT) |
| | Saves multi marker configuration to a text file. More...
|
| |
| template<class M > |
| int | SetTrackMarkers (MarkerDetector< M > &marker_detector, Camera *cam, Pose &pose, IplImage *image=0) |
| | Set new markers to be tracked for MarkerDetector Sometimes the MultiMarker implementation knows more about marker locations compared to MarkerDetector . Then this method can be used to reset the internal state of MarkerDetector for tracking also these markers. More...
|
| |
| size_t | Size () |
| | Return the number of markers added using PointCloudAdd. More...
|
| |
| template<class M > |
| double | Update (const std::vector< M, Eigen::aligned_allocator< M > > *markers, Camera *cam, Pose &pose, IplImage *image=0) |
| | Calls GetPose to obtain camera pose. More...
|
| |
Initializes multi marker by estimating their relative positions from one or more images.
To use, detect markers from images using MarkerDetector and call addMeasurement for each image that has at least two markers. Finally, call initialize to compute the relative positions of markers.
After the multi marker has been initialized, the point cloud can be copied into another MultiMarker implementation by PointCloudCopy.
- Examples:
- SampleMultiMarkerBundle.cpp.
Definition at line 50 of file MultiMarkerInitializer.h.
template<class M >
| void alvar::MultiMarkerInitializer::MeasurementsAdd |
( |
const std::vector< M, Eigen::aligned_allocator< M > > * |
markers | ) |
|
|
inline |
Adds a new measurement for marker field initialization. Each measurement should contain at least two markers. It does not matter which markers are visible, especially the zero marker does not have to be visible in every measurement. It suffices that there exists a 'path' from the zero marker to every other marker in the marker field.
For example:
- first measurement contains marker A and B.
- second measurement containt markers ZERO and A.
When Initialize is called, the system can first deduce the pose of A and then the pose of B.
Definition at line 95 of file MultiMarkerInitializer.h.
Public Member Functions inherited from alvar::MultiMarker